version: 66.11
glider: 130
mission: 19
dive: 21
start: 12 19 113 15 1 48
data:
$ID,130
$MISSION,19
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51967
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028580001
$HD_B,0.0089408001
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118576.32
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3725
$C_PITCH,2993
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.3370571
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,131
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$GPS1,191213,144912,4742.483,-12225.824,23,1.7,29,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.9
$GPS2,191213,150121,4742.424,-12225.843,14,2.3,34,18.2
$SPEED_LIMITS,0.114,0.200
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,7.2,3026,-18.1,-8.000,-21.82,1655
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.40,-88.0,644,1785,1207,1087,0.0,0.0,0,46,0.00,0.00,-27.38,0.000,16386,0.000,0.000,644,1785,1989,2030,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.40,-88.0,644,1785,2030,1948,2.2,-4.0,5,80,11.90,2.65,-11.90,0.000,18948,0.168,0.081,2680,378,2409,2464,2354,0,0,0,0,0,0,24.34,24.44,24.79
$GC,209,-1.40,-88.0,2680,378,2464,2354,20.3,-16.1,35,215,0.00,2.47,0.00,0.000,1030,0.000,0.037,2680,1841,2409,2464,2354,0,0,0,0,0,0,28.83,24.60,28.83
$GC,279,-1.40,-88.0,2680,1841,2464,2354,29.9,-13.5,48,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1841,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,348,-1.40,-88.0,2680,1841,2464,2354,39.4,-12.9,61,354,0.00,2.62,0.00,0.000,516,0.000,0.066,2680,383,2409,2464,2354,0,0,0,0,0,0,28.83,24.55,28.83
$GC,402,-1.40,-88.0,1664,383,2397,2343,46.5,-13.0,71,408,0.00,2.45,0.00,0.000,1030,0.000,0.038,2680,1833,2409,2464,2354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,471,-1.40,-88.0,2679,1833,2464,2354,55.1,-12.8,84,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1833,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,600,-1.40,-88.0,2680,1833,2464,2354,70.1,-12.2,109,606,0.00,2.62,0.00,0.000,516,0.000,0.066,2680,379,2409,2464,2354,0,0,0,0,0,0,28.83,24.58,28.83
$GC,659,-1.40,-88.0,2680,379,2464,2355,77.8,-12.9,120,665,0.00,2.45,0.00,0.000,1030,0.000,0.037,2680,1832,2409,2465,2354,0,0,0,0,0,0,28.83,24.67,28.83
$GC,788,-1.40,-88.0,2680,1832,2464,2354,93.5,-13.8,145,795,0.00,2.40,0.00,0.000,260,0.000,0.047,2680,3232,2409,2464,2354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,991,-1.40,-88.0,2680,3233,2464,2354,120.7,-12.0,184,997,0.00,2.50,0.00,0.000,1030,0.000,0.047,2680,1788,2409,2464,2354,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1120,-1.40,-88.0,2680,1788,2464,2354,135.0,-11.5,209,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1789,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-1.40,-88.0,2680,1789,2464,2354,151.4,-13.3,234,1255,0.00,2.53,0.00,0.000,516,0.000,0.067,2680,380,2409,2464,2354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1380,-1.40,-88.0,2680,380,2465,2354,168.0,-13.4,259,1386,0.00,2.45,0.00,0.000,1030,0.000,0.038,2680,1834,2409,2465,2354,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,1482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1488,-0.36,0.0,2680,1736,2464,2354,180.6,-11.6,279,1564,1.15,0.00,67.55,0.484,10246,0.114,0.000,2905,1736,2048,2126,1971,0,0,0,0,0,0,24.60,28.83,23.84
$STATE,1565,end apogee,CONTROL_FINISHED_OK
$STATE,1565,begin climb
$GC,1568,1.40,88.0,2905,1736,2126,1971,184.1,0.0,293,1644,1.85,0.00,67.80,0.477,10502,0.085,0.000,3292,1736,1690,1772,1608,0,0,0,0,0,0,24.28,28.83,23.81
$GC,1768,1.41,93.2,3292,1737,1772,1604,171.0,7.7,331,1780,0.00,0.00,5.32,0.350,8198,0.000,0.000,3293,1737,1669,1754,1585,0,0,0,0,0,0,28.83,28.83,24.04
$GC,1906,1.41,93.2,3292,1737,1753,1584,159.0,8.8,357,1913,0.00,2.55,0.00,0.000,516,0.000,0.069,3292,333,1669,1754,1584,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2015,1.41,93.2,3292,333,1753,1584,147.3,10.0,378,2022,0.00,2.45,0.00,0.000,1030,0.000,0.037,3292,1782,1669,1754,1584,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2145,1.41,93.2,3292,1782,1754,1583,135.0,9.2,403,2151,0.00,2.62,0.00,0.000,516,0.000,0.068,3292,336,1668,1754,1583,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2224,1.41,93.2,3292,336,1753,1583,126.6,9.8,418,2231,0.00,2.45,0.00,0.000,1030,0.000,0.037,3292,1780,1668,1754,1583,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2354,1.41,93.2,3292,1783,1754,1582,115.0,9.1,443,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1783,1668,1754,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,1.44,119.0,2304,1781,1705,1576,105.3,6.4,468,2511,0.00,2.70,20.85,0.418,8708,0.000,0.070,3293,330,1563,1651,1476,0,0,0,0,0,0,28.83,24.31,24.00
$GC,2559,1.44,121.3,3292,330,1651,1476,99.5,7.9,482,2566,0.00,2.45,0.00,0.000,1030,0.000,0.037,3293,1780,1563,1651,1476,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2691,1.47,142.6,3292,1780,1651,1475,89.8,6.7,507,2719,0.00,2.47,19.60,0.405,8452,0.000,0.047,3293,3167,1467,1556,1379,0,0,0,0,0,0,28.83,24.37,24.00
$GC,2732,1.50,168.9,3292,3167,1556,1379,86.8,6.4,514,2762,0.12,2.50,21.90,0.404,11270,0.067,0.048,3326,1741,1360,1448,1273,0,0,0,0,0,0,24.49,24.45,23.94
$GC,2886,1.50,168.9,3326,1741,1448,1271,70.5,11.3,543,2893,0.00,2.55,0.00,0.000,516,0.000,0.069,3326,337,1359,1448,1271,0,0,0,0,0,0,28.83,24.48,28.83
$GC,2961,1.50,168.9,3326,337,1448,1271,60.0,14.5,557,2967,0.00,2.45,0.00,0.000,1030,0.000,0.037,3326,1782,1359,1448,1271,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3090,1.50,168.9,3326,1782,1448,1270,43.3,12.2,582,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1781,1359,1448,1270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,1.50,168.9,3326,1782,1448,1270,34.3,13.9,595,3167,0.00,2.40,0.00,0.000,260,0.000,0.047,3326,3178,1358,1448,1269,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3195,1.50,168.9,3326,3178,1447,1269,29.4,13.3,601,3201,0.00,2.53,0.00,0.000,1030,0.000,0.049,3326,1734,1357,1447,1268,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3264,1.50,168.9,3326,1734,1447,1269,19.8,13.8,614,3270,0.00,2.53,0.00,0.000,516,0.000,0.070,3326,337,1358,1447,1269,0,0,0,0,0,0,28.83,24.54,28.83
$GC,3363,1.50,168.9,3326,337,1447,1269,5.7,14.4,633,3370,0.00,2.45,0.00,0.000,1030,0.000,0.038,3326,1787,1358,1447,1269,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,3380,end climb,SURFACE_DEPTH_REACHED
$STATE,3380,begin surface coast
$FINISH,0.9,1.023199
$STATE,3398,end surface coast,CONTROL_FINISHED_OK
$STATE,3398,begin surface
$SM_CCo,3419,30.65,0.054,0,0,1152,220.03
$SM_GC,1.64,11.88,0.00,30.65,0.037,0.000,0.054,649,1787,1152,-10.73,-0.37,220.03,0,0,0,0,0,0,24.63,28.83,24.57
$IRIDIUM_FIX,4729.30,-12233.92,191213,141459
$TT8_MAMPS,0.024717,0.024717
$HUMID,33.34
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,13.3
$24V_AH,23.8,1.317
$10V_AH,10.3,1.136
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.900,60.425,203.025,30.650,0.000,54.769,127.391,340.177,0.500,0.000,36.478,1414.428,780.399,346.604,1480.233,161.971,0.000,871.549,0.000,922.180,0.000,5.451,0.000
$DEVICE_MAMPS,168.300,82.620,484.245,54.315,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.864,287.066,473.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,30152,639
$CAP_FILE_SIZE,73134,0
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,160035,4742.625,-12225.637,38,1.0,44,18.2